#ifndef _CMD_H
#define _CMD_H
#include "struct_typedef.h"
#include "device.h"


#define MID (0x09)
#define PICK (0x06)

typedef enum{
	UP_RCcontrol,//遥控器控制，左按键上，控制上层
	MID_NAVI,//雷达导航
	PICK_t,
	RELAXED,//异常模式

 }CMD_CtrlType_t;

typedef  enum{
			

		Normal,    //无模式
    Dribble ,  //运球
	  Pitch  ,    //投篮

  }CMD_UP_mode_t;
typedef struct {
 uint8_t  status_fromnuc;
 uint8_t  ctrl_status;  //取其中每一个二进制位用作通信
  struct 
  {
  fp32 vx;
  fp32 vy;
  fp32 wz;
  }navi;
 struct 
 {
	 fp32 posx;
   fp32 posy;
   fp32 posw;
 }pick;
  struct
	{
		fp32 angle;
	}sick_cali;
} CMD_NUC_t;
/* 拨杆位置 */
typedef enum {
  CMD_SW_ERR = 0,
  CMD_SW_UP = 1,
  CMD_SW_MID = 3,
  CMD_SW_DOWN = 2,
} CMD_SwitchPos_t;

/*遥控器值，使用CMD_RcLogic函数传入CMD_t结构体*/
typedef struct {
  float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
  float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
  float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
  float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */

  float ch_res; /* 第五通道值 */

  CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
  CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */


  uint16_t key; /* 按键值 */

  uint16_t res; /* 保留，未启用 */

} __attribute__((packed))CMD_RC_t;

typedef struct {


   fp32 key_ctrl_l;
   fp32 key_ctrl_r;
	
 /*视觉*/		
	struct {
   uint8_t cmd_status;
   uint8_t raw_status;	 
   uint8_t status[7];	
		struct 
		{
			 fp32 posx;
			 fp32 posy;
			 fp32 posw;
			}pick;
		 
 }NAVI_t;
 
 
   CMD_UP_mode_t CMD_UP_mode;
   CMD_CtrlType_t CMD_CtrlType;
	 
	
} CMD_t;


/*nuc数据统一到cmd*/
int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n);

int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) ;

#endif